which localization package should I use?

Hi, I am trying to develop a mobile robot. My robot will move in a dynamic environment (store, restaurant, etc.). My Odom data is pretty good but I couldn't decide which localization package I should use. At some points, my map and my environment can be completely different.

for odom->map transform;

When I set the EKF, it works very well, but I don't know if it is useful for long move.
For slam_toolbox it is said to be good in dynamic environments but does it have a certain ratio?
I haven't tried Cartographer, should I try?

Do you have any suggestions other than these?

Asked by klchsyn on 2023-03-07 10:09:31 UTC

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Answers

I have found it works best to use SLAM for odom->map transform, and the EKF (odom+imu) for base_link->odom transform (accurate odom->base_link with SLAM transform correcting over time). This method has worked pretty well outside and even better inside.

Asked by chased11 on 2023-03-07 16:26:40 UTC

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Thanks your answers. So How can i solve map and environment matching problem for slam algorithm?

Asked by klchsyn on 2023-03-08 03:39:16 UTC

There's a alot of different SLAM packages. I use RTAB-map with depth cameras, but gmapping, hector slam, cartographer, AMCL, slam_toolbox are all good methods for mapping and localization with LiDAR. You will want to look into each and figure out which one will work best for you.

Asked by chased11 on 2023-03-10 15:56:37 UTC